Marcell Rausch / BNO055_fusion_irq

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Fork of BNO055_fusion by Marcell Rausch

Diff: BNO055.cpp

Revision:
2:0f225b686cd5
Parent:
1:cb7e19c0a702
Child:
3:0ad6f85b178f
--- a/BNO055.cpp	Tue Apr 07 12:03:58 2015 +0000
+++ b/BNO055.cpp	Wed Apr 08 11:27:57 2015 +0000
@@ -7,7 +7,7 @@
  *  http://www.page.sannet.ne.jp/kenjia/index.html
  *  http://mbed.org/users/kenjiArai/
  *      Created: March     30th, 2015
- *      Revised: April      7th, 2015
+ *      Revised: April      8th, 2015
  *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
  * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
@@ -306,7 +306,7 @@
 }
 
 /////////////// Check chip ready or not  //////////////////
-uint8_t BNO055::chip_ready()
+uint8_t BNO055::chip_ready(void)
 {
     if (ready_flg == 0x0f) {
         return 1;
@@ -314,6 +314,16 @@
     return 0;
 }
 
+/////////////// Read Calibration status  //////////////////
+uint8_t BNO055::read_calib_status(void)
+{
+    select_page(0);
+    dt[0] = BNO055_CALIB_STAT;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 1, false);
+    return dt[0];
+}
+
 /////////////// Change Fusion mode  ///////////////////////
 void BNO055::change_fusion_mode(uint8_t mode)
 {